Planning reorientation of an object with a multifingered hand
- 17 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 3104-3110 vol.4
- https://doi.org/10.1109/robot.1994.351093
Abstract
A multifingered hand can reorient an object by regrasping it in a hand. This paper presents a planner which plans a sequence of repositioning of fingers for horizontal rotation of an object for a desired angle. The authors previously developed an algorithm for computing contact positions of fingers where they can maintain equilibrium. The algorithm is used to compute a new contact position of a removed finger where there is a finger which can be removed next. Based on these computations, the authors develop an algorithm for searching for a sequence of repositioning of fingers. Examples show that the algorithm can efficiently find sequences which require the number of repositioning steps.Keywords
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